Sliding Mode Control with Fuzzy Adaptive Perturbation Compensator for 6-DOF Parallel Manipulator  

Oleh:

Park, Min Kyung ; Lee, Min Cheol ; Jo Go, Seok

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1264-1269.
Topik: Fuzzy Adaptive Perturbation; Compensator; FAPC; FAN
Fulltext: AC021553.PDF (703.54KB)

Isi artikel

To get a good control performance and reduce the chatter, a sliding mode controller with fuzzy adaptive perturbation compensator is proposed. This control algorithm is designed to solve the chattering problem of a sliding mode control and select the adequate fuzzy parameters of the perturbation compensator. The fuzzy adaptive perturbation compensator (FAPC) generates the control input for compensating unmodeled dynamic terms and disturbance by using the observer-based fuzzy adaptive network (FAN). The weighting parameters of the fuzzy adaptive perturbation compensator are updated by on-line adaptive scheme in order to minimize the estimation error and the estimation velocity error each actuator. Therefore, the combination of sliding mode control and fuzzy adaptive network gives the robust and intelligent routine to get a good control performance

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